mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.7 KiB
C
120 lines
3.7 KiB
C
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#ifndef __AP_HAL_BOARDS_H__
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#define __AP_HAL_BOARDS_H__
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/**
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* C preprocesor enumeration of the boards supported by the AP_HAL.
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* This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
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* can be used to exclude HAL boards from the build when appropriate.
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* Its not an elegant solution but we cant get too fancy if we want to
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* work with the Arduino mk and IDE builds without too much modification.
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*/
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#define HAL_BOARD_APM1 1
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#define HAL_BOARD_APM2 2
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#define HAL_BOARD_AVR_SITL 3
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#define HAL_BOARD_SMACCM 4 // unused
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#define HAL_BOARD_PX4 5
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#define HAL_BOARD_FLYMAPLE 6
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#define HAL_BOARD_LINUX 7
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#define HAL_BOARD_VRBRAIN 8
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#define HAL_BOARD_EMPTY 99
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/**
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CPU classes, used to select if CPU intensive algorithms should be used
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Note that these are only approximate, not exact CPU speeds.
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*/
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#define HAL_CPU_CLASS_16 1 // 16Mhz, AVR2560 or similar
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#define HAL_CPU_CLASS_75 2 // 75Mhz, Flymaple or similar
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#define HAL_CPU_CLASS_150 3 // 150Mhz, PX4 or similar, assumes
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// hardware floating point. Assumes tens
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// of kilobytes of memory available
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#define HAL_CPU_CLASS_1000 4 // GigaHz class, SITL, BeagleBone etc,
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// assumes megabytes of memory available
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/**
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operating system features:
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HAL implementations may define the following extra feature defines
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to 1 if available
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HAL_OS_POSIX_IO : has posix-like filesystem IO
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*/
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/*
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define AP_HAL_BOARD_DRIVER to the right hal type for this
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board. This prevents us having a mess of ifdefs in every example
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sketch
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*/
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM1
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#define HAL_BOARD_NAME "APM 1"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM2
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#define HAL_BOARD_NAME "APM 2"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#define AP_HAL_BOARD_DRIVER AP_HAL_AVR_SITL
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#define HAL_BOARD_NAME "SITL"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#define AP_HAL_BOARD_DRIVER AP_HAL_FLYMAPLE
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#define HAL_BOARD_NAME "FLYMAPLE"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_75
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define AP_HAL_BOARD_DRIVER AP_HAL_PX4
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#define HAL_BOARD_NAME "PX4"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
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#define HAL_BOARD_NAME "Linux"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
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#define HAL_OS_POSIX_IO 1
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
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#define AP_HAL_BOARD_DRIVER AP_HAL_Empty
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#define HAL_BOARD_NAME "EMPTY"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_16
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define AP_HAL_BOARD_DRIVER AP_HAL_VRBRAIN
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#define HAL_BOARD_NAME "VRBRAIN"
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#define HAL_CPU_CLASS HAL_CPU_CLASS_150
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#define HAL_OS_POSIX_IO 1
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#define HAL_STORAGE_SIZE 4096
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#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
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#else
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#error "Unknown CONFIG_HAL_BOARD type"
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#endif
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#endif // __AP_HAL_BOARDS_H__
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